################################################################################
# Set minimum required version of cmake, project name and compile options
################################################################################
cmake_minimum_required(VERSION 3.5)
project(imu_ahrs)


# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find_package(Eigen3 REQUIRED)
set(Eigen3_INCLUDE_DIRS ${EIGEN3_INCLUDE_DIR})

################################################################################
# Find and load build settings from external packages
################################################################################
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(rclpy REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(std_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(serial REQUIRED)
find_package(nav_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)



if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

################################################################################
# Build
################################################################################

include_directories(
  include
  src
  ${catkin_INCLUDE_DIRS}
  ${Eigen3_INCLUDE_DIRS} 
)


set(EXEC_NAME
  "imu_ahrs_driver_node"
)

set(imu_ahrs_driver_SRCS
  "src/ahrs_driver.cpp"
  "src/crc_table.cpp"
)

set(dependencies
  "rclcpp"
  "rclpy"
  "std_msgs"
  "sensor_msgs"
  "serial"
  "tf2_ros"
  "tf2"
  "nav_msgs"
  "geometry_msgs"
)

add_executable(${EXEC_NAME} ${imu_ahrs_driver_SRCS})
ament_target_dependencies(${EXEC_NAME} ${dependencies})

# add_executable(imu_ahrs_driver_node src/ahrs_driver.cpp src/crc_table.cpp)
# ament_target_dependencies(imu_ahrs_driver_node rclcpp rclpy  std_msgs  sensor_msgs  serial tf2_ros tf2 nav_msgs geometry_msgs)


# add_executable(imu_tf_node src/imu_tf.cpp)
# ament_target_dependencies(imu_tf_node rclcpp rclpy std_msgs sensor_msgs serial tf2_ros tf2 tf2_geometry_msgs)

# find_package(Boost 1.55.0 REQUIRED COMPONENTS system filesystem)
# include_directories(ahrs_driver_node ${Boost_INCLOUDE_DIRS})
# link_directories(ahrs_driver_node ${Boost_LIBRARY_DIRS})
# target_link_libraries(ahrs_driver_node ${Boost_LIBRSRIES})

################################################################################
# Install
################################################################################

install(TARGETS
  # imu_ahrs_driver_node
  # imu_tf_node
  TARGETS ${EXEC_NAME}

  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY launch 
  DESTINATION share/${PROJECT_NAME}
)

################################################################################
# Macro for ament package
################################################################################

# 导出头文件目录
ament_export_include_directories(include)

# 导出依赖的包
ament_export_dependencies(geometry_msgs)
ament_export_dependencies(nav_msgs)
ament_export_dependencies(rclcpp)
ament_export_dependencies(sensor_msgs)
ament_export_dependencies(std_msgs)
ament_export_dependencies(tf2)
ament_export_dependencies(tf2_ros)
ament_export_dependencies(serial)
ament_export_dependencies(rclpy)

ament_package()
